ROSCon 2021
16
Transcript of ROSCon 2021
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<pose relative_to="frame_name">0 0 1 0 0 0</pose>
<frame name="frame_name" attached_to="link_name" />
y
z
X_MP PM
model (M)
pendulum (P)
X_MP<pose>0 0.5 1.0 1.57 0 0</pose>
x y z r p y
y
z
model (M)
pendulum (P)
base (B)
<sdf version="1.6"> <model name="pendulum_with_base" > <link name="base"> <pose>0 0 0.3 0 0 0</pose> </link> <link name="pendulum"> <pose>0 0.5 1.0 1.57 0 0 </pose> </link> <joint name="joint" type="revolute"> <parent>base</parent> <child>pendulum</child> <pose>0 0 0.5 0 0 0</pose> <axis> <xyz>1 0 0</xyz> </axis> </joint> </model></sdf>
joint (J)
y
z
model (M)
pendulum (P)joint (J)
base (B)
X_MP
X_MB
X_PJ
<sdf version="1.6">M <model name="pendulum_with_base" >B <link name="base">X_MB <pose>0 0 0.3 0 0 0</pose> </link>P <link name="pendulum">X_MP <pose>0 0.5 1.0 1.57 0 0</pose> </link>J <joint name="joint" type="revolute"> <parent>base</parent> <child>pendulum</child>X_PJ <pose>0 0 0.5 0 0 0</pose> <axis> <xyz>1 0 0</xyz> </axis> </joint> </model></sdf>
y
z
model (M)
pendulum (P)
base (B)
joint (J)
X_JP
X_MB
X_BJ
<sdf version="1.7">M <model name="pendulum_with_base">B <link name="base">X_MB <pose>0 0 0.3 0 0 0</pose> </link>P <link name="pendulum">
<pose relative_to="joint">X_JP 0 0 -0.5 0 0 0
</pose> </link>J <joint name="joint" type="revolute"> <parent>base</parent> <child>pendulum</child>
<pose relative_to="base">X_BJ 0 0 0.73 1.57 0 0
</pose> <axis> <xyz>1 0 0</xyz> </axis> </joint> </model></sdf>
pendulum (P)joint (J)tip (T)
<sdf version="1.6"> <model name="pendulum_with_base"> …T <frame name="tip" attached_to="pendulum">X_PT <pose>0 0 -0.5 -1.57079 0 0</pose> </frame>P <link name="pendulum">V <visual name="tip_visual">X_TV <pose relative_to="tip"/> … </visual> </link> </model></sdf>
y
z
model (M)
base (B)
X_JP
X_MB
X_BJ
X_PT
●●●● @expressed_in use_parent_model_frame
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Loaded using SDFormat 1.7, libsdformat8 (dev branch)
Drake[dev pr | commit]
Gazebo[dev pr | commit]
<link name="L1"/>
<joint name="joint1" type="revolute"> <origin xyz="0.1 0.2 0.3" rpy="0.4 0.5 0.6"/> <parent link="L1"/> <child link="L2"/></joint><link name="L2"/>
<link name="L1"/>
<joint name="joint1" type="revolute"> <pose relative_to="L1"> 0.1 0.2 0.3 0.4 0.5 0.6 </pose> <parent>L1</parent> <child>L2</child></joint>
<link name="L2"> <pose relative_to="joint1" /></link>
URDF SDFormat 1.7
